Characteristics and adaptive control of pneumatic muscle actuators for a robotic elbow. - Darwin G. Caldwell; Gustavo A. Medrano-Cerda; Michael Goodwin (ICRA, 1994)

Adaptive position control of antagonistic pneumatic muscle actuators. - Gustavo A. Medrano-Cerda; Colin J. Bowler; Darwin G. Caldwell (IROS (1), 1995)

Investigation of bipedal robot locomotion using pneumatic muscle actuators. - Darwin G. Caldwell; Gustavo A. Medrano-Cerda; Colin J. Bowler (ICRA, 1997)

Pneumatic Muscle Actuator Technology a Light Weight Power System for a Humanoid Robot. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; D. Badihi; Gustavo A. Medrano-Cerda (ICRA, 1998)

Development of a Pneumatic Muscle Actuator Driven Manipulator Rig for Nuclear Waste Retrieval Operations. - Darwin G. Caldwell; Nikolaos G. Tsagarakis; Gustavo A. Medrano-Cerda; J. Schofield; S. Brown (ICRA, 1999)

Shape function-based kinematics and dynamics for variable length continuum robotic arms. - Isuru S. Godage; David T. Branson; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2011)

Novel modal approach for kinematics of multisection continuum arms. - Isuru S. Godage; Emanuele Guglielmino; David T. Branson; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2011)

Dynamics for biomimetic continuum arms: A modal approach. - Isuru S. Godage; David T. Branson; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ROBIO, 2011)

A position and stiffness control strategy for variable stiffness actuators. - Irene Sardellitti; Gustavo A. Medrano-Cerda; Nikolaos G. Tsagarakis; Amir Jafari; Darwin G. Caldwell (ICRA, 2012)

Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris. - Tianjiang Zheng; David T. Branson; Rongjie Kang; Matteo Cianchetti; Emanuele Guglielmino; Maurizio Follador; Gustavo A. Medrano-Cerda; Isuru S. Godage; Darwin G. Caldwell (ICRA, 2012)

On the role of load motion compensation in high-performance force control. - Thiago Boaventura Cunha; Michele Focchi; Marco Frigerio; Jonas Buchli; Claudio Semini; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2012)

Control of a Compliant Humanoid Robot in Double Support Phase: a Geometric Approach. - Gustavo A. Medrano-Cerda; Houman Dallali; Martin Brown (Int. J. Humanoid Robotics, 2012)

Designing a High Performance Humanoid Robot Based on Dynamic Simulation. - Houman Dallali; Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Vo-Gia Loc; Nikos G. Tsagarakis; Darwin G. Caldwell; Michele Gesino (EMS, 2013)

Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach. - Houman Dallali; Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Nicolas Docquier; Petar Kormushev; Nikos G. Tsagarakis; Zhibin Li 001; Darwin G. Caldwell (ICM, 2013)

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICM, 2013)

Gravity compensation control of compliant joint systems with multiple drives. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (ICRA, 2013)

COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control. - Nikos G. Tsagarakis; Stephen Morfey; Gustavo A. Medrano-Cerda; Zhibin Li 001; Darwin G. Caldwell (ICRA, 2013)

Octopus inspired walking robot: Design, control and experimental validation. - Tianjiang Zheng; Isuru S. Godage; David T. Branson; Rongjie Kang; Emanuele Guglielmino; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2013)

Stability and performance of the compliance controller of the quadruped robot HyQ. - Thiago Boaventura Cunha; Gustavo A. Medrano-Cerda; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (IROS, 2013)

Optimal ankle compliance regulation for humanoid balancing control. - Mohamad Mosadeghzad; Zhibin Li 001; Nikos G. Tsagarakis; Gustavo A. Medrano-Cerda; Houman Dallali; Darwin G. Caldwell (IROS, 2013)

A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers. - Emmanouil Spyrakos-Papastavridis; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Jian S. Dai 001; Darwin G. Caldwell (IROS, 2013)

An asymmetric compliant antagonistic joint design for high performance mobility. - Nikolaos G. Tsagarakis; Stephen Morfey; Houman Dallali; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (IROS, 2013)

Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation. - Mohamad Mosadeghzad; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2013)

Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms. - Irene Sardellitti; Gustavo A. Medrano-Cerda; Nikolaos G. Tsagarakis; Amir Jafari; Darwin G. Caldwell (IEEE Trans. Robotics, 2013)

Decentralized Feedback Design for a Compliant Robot Arm. - Houman Dallali; Gustavo A. Medrano-Cerda; Navvab Kashiri; Nikos G. Tsagarakis; Darwin G. Caldwell (EMS, 2014)

Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. - Nikolaos G. Tsagarakis; Houman Dallali; Francesca Negrello; Wesley Roozing; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (Humanoids, 2014)

Power efficient balancing control for humanoids based on approximate optimal ankle compliance regulation. - Mohamad Mosadeghzad; Nikos G. Tsagarakis; Gustavo A. Medrano-Cerda; Darwin G. Caldwell (ICRA, 2014)

How leg/foot compliance and posture affects impact forces during landing. - Wooseok Choi; Houman Dallali; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Darwin G. Caldwell (ROBIO, 2014)

Robot Impedance Control and Passivity Analysis with Inner Torque and Velocity Feedback Loops. - Michele Focchi; Gustavo A. Medrano-Cerda; Thiago Boaventura Cunha; Marco Frigerio; Claudio Semini; Jonas Buchli; Darwin G. Caldwell (CoRR, 2014)

Damping control of variable damping compliant actuators. - Navvab Kashiri; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Matteo Laffranchi; Darwin G. Caldwell (ICRA, 2015)

A new foot sole design for humanoids robots based on viscous air damping mechanism. - Wooseok Choi; Chengxu Zhou; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Nikos G. Tsagarakis (IROS, 2015)

A design method of a robust controller for hydraulic actuation with disturbance observers. - Hiroaki Kuwahara; Fujio Terai; Michele Focchi; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Claudio Semini (AMC, 2016)

Design of a variable compliant humanoid foot with a new toe mechanism. - Wooseok Choi; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2016)

Dynamics for variable length multisection continuum arms. - Isuru S. Godage; Gustavo A. Medrano-Cerda; David T. Branson; Emanuele Guglielmino; Darwin G. Caldwell (Int. J. Robotics Res., 2016)

Bond Graph Modeling Of An Exoskeleton Actuator. - Erfan Shojaei Barjuei; Stefano Toxiri; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Jesús Ortiz 001 (CEEC, 2018)

Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control. - Victor Barasuol; Octavio Antonio Villarreal-Magaña; Dhinesh Sangiah; Marco Frigerio; Mike Baker; Robert Morgan; Gustavo A. Medrano-Cerda; Darwin G. Caldwell; Claudio Semini (Frontiers Robotics AI, 2018)